Related papers: Constrained Bandwidth Observation Sharing for Mult…
This work develops a distributed optimization algorithm for multi-robot 3-D semantic mapping using streaming range and visual observations and single-hop communication. Our approach relies on gradient-based optimization of the observation…
We consider the problem of the limited-bandwidth communication for multi-agent reinforcement learning, where agents cooperate with the assistance of a communication protocol and a scheduler. The protocol and scheduler jointly determine…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
Communication bandwidth is an important consideration in multi-robot exploration, where information exchange among robots is critical. While existing methods typically aim to reduce communication throughput, they either require significant…
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
Due to the distributed nature of cooperative simultaneous localization and mapping (CSLAM), detecting inter-robot loop closures necessitates sharing sensory data with other robots. A na\"{\i}ve approach to data sharing can easily lead to a…
Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…
Internet of Things (IoT) technologies have enabled numerous data-driven mobile applications and have the potential to significantly improve environmental monitoring and hazard warnings through the deployment of a network of IoT sensors.…
The need for efficient monitoring of spatio-temporal dynamics in large environmental applications, such as the water quality monitoring in rivers and lakes, motivates the use of robotic sensors in order to achieve sufficient spatial…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
We consider a scenario where an UAV-mounted flying base station is providing data communication services to a number of radio nodes spread over the ground. We focus on the problem of resource-constrained UAV trajectory design with (i)…
Collaborative navigation of heterogeneous robots in unknown environments poses significant challenges due to sensing, communication, and computational limitations. In this work, a lead robot navigates toward a target while a mobile sensor…
Integrated sensing and communication (ISAC) has emerged as a transformative technology for 6G networks, enabling the seamless integration of communication and sensing functionalities. Reconfigurable intelligent surfaces (RIS), with their…
Rigid-formation navigation of multiple robots is essential for applications such as cooperative transportation. This process involves a team of collaborative robots maintaining a predefined geometric configuration, such as a square, while…
Collaborative perception is vital for autonomous driving yet remains constrained by tight communication budgets. Earlier work reduced bandwidth by compressing full feature maps with fixed-rate encoders, which adapts poorly to a changing…
Collaboration in large robot swarms to achieve a common global objective is a challenging problem in large environments due to limited sensing and communication capabilities. The robots must execute a Perception-Action-Communication (PAC)…
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…
This paper proposes an integrated sensing, navigation, and communication (ISNC) framework for safeguarding unmanned aerial vehicle (UAV)-enabled wireless networks against a mobile eavesdropping UAV (E-UAV). To cope with the mobility of the…